TMS320F280049: F280049 DCAN寄存器版收发问题

Fu Mo

Prodigy 85 points

Part Number: TMS320F280049
Other Parts Discussed in Thread: C2000WARE

你好！附件是我使用寄存器配置F280049 DCAN收发的工程，但是收发失败，监控寄存器没有数据，请帮忙分析一下原因，看看配置哪里出了问题，谢谢！

4 年多前

0 Fu Mo 4 年多前

Prodigy 85 points

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#include "F28x_Project.h"
#include "device.h"
#include "math.h"
///////////DCan////////////////////////////
typedef struct{
    Uint32 cob_id_ext:18;
    Uint32 cob_id:11;
    Uint32 rtr:1;
    Uint32 rsvd1:2;
}CanFrameIdStr;
typedef union{
    Uint32 frame_id;
    CanFrameIdStr strct;
}CanFrameId;
typedef struct{
    CanFrameId id;
    Uint8 len;
    Uint32  hdata;
XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX

#include "F28x_Project.h"
#include "device.h"
#include "math.h"

///////////DCan////////////////////////////
typedef struct{
    Uint32 cob_id_ext:18;
    Uint32 cob_id:11;
    Uint32 rtr:1;
    Uint32 rsvd1:2;
}CanFrameIdStr;

typedef union{
    Uint32 frame_id;
    CanFrameIdStr strct;
}CanFrameId;

typedef struct{
    CanFrameId id;
    Uint8 len;
    Uint32  hdata;
    Uint32  ldata;
}CanFrame;



//////////////////////////////////////////////////
void InitCan(void);

int CanAppTx(int no,CanFrame *tx_frame);
int CanAppRx(int no,CanFrame *rx_frame);

//
uint16_t Save_data;
uint16_t can_tx_result;
uint16_t can_rx_result;

CanFrame tx_data;
CanFrame rx_data;


void main(void)
{
    // 初始化时钟和外设 Initialize device clock and peripherals
    Device_init();
    // InitSysCtrl();  //本工程不能使用寄存器的InitSysCtrl();函数初始化。

    /*//库函数版配置
    // 初始化GPIO并设置为推挽输出 Initialize GPIO and configure the GPIO pin as a push-pull output
    Device_initGPIO();
    */
    InitGpio();  //寄存器指令配置

    //
    InitCan();

    // 初始化PIE并清空PIE寄存器，关闭CPU中断
    // Initialize PIE and clear PIE registers. Disables CPU interrupts.
    Interrupt_initModule();

    // 初始化PIE向量表
    // Initialize the PIE vector table with pointers to the shell Interrupt
    // Service Routines (ISR).
    Interrupt_initVectorTable();

    // Enable Global Interrupt (INTM) and realtime interrupt (DBGM)
    EINT;
    ERTM;

    for(;;)
    {
        //
        tx_data.ldata =0x1234;
        tx_data.hdata =0x4567;
        tx_data.len   =8;
        tx_data.id.frame_id = 0x256;

        can_tx_result = CanAppTx(0,&tx_data);


        //
        can_rx_result = CanAppRx(0,&rx_data);

    }
}

/////////////////////////////DCan////////////////////////////
void InitCan( void )
{
    int i;

    EALLOW;
    //引脚配置*************************************************
    //CAN_B_RX
    //mux = 2(0010)
    GpioCtrlRegs.GPAGMUX1.bit.GPIO13       = 0x0;//10
    GpioCtrlRegs.GPAMUX1.bit.GPIO13        = 0x2;//10
    GpioCtrlRegs.GPADIR.bit.GPIO13         = 0x0; //设置为输入
    GpioCtrlRegs.GPAPUD.bit.GPIO13         = 0x0; //使能上拉电阻

    //CAN_B_TX
    //mux = 2(0010)
    GpioCtrlRegs.GPAGMUX1.bit.GPIO12       = 0x0;//10
    GpioCtrlRegs.GPAMUX1.bit.GPIO12        = 0x2;//10
    GpioCtrlRegs.GPADIR.bit.GPIO12         = 0x1; //设置为输出
    GpioCtrlRegs.GPAPUD.bit.GPIO12        = 0x0; //使能上拉电阻

    //初始化开始*************************************************
    CanbRegs.CAN_CTL.bit.Init   = 1;
    CanbRegs.CAN_CTL.bit.CCE  = 1;
    /*设置寄存器写方向，将arb和mctl写入消息对象*/
    //CAN_IF1CMD
    while(CanbRegs.CAN_IF1CMD.bit.Busy)
    {
        ;
    }
    CanbRegs.CAN_IF1CMD.bit.DIR       = 1;
    CanbRegs.CAN_IF1CMD.bit.Mask      = 1;
    CanbRegs.CAN_IF1CMD.bit.Arb       = 1;
    CanbRegs.CAN_IF1CMD.bit.Control   = 1;
    CanbRegs.CAN_IF1MSK.all           = 0;
    CanbRegs.CAN_IF1ARB.bit.MsgVal    = 1;
    CanbRegs.CAN_IF1MCTL.bit.UMask    = 1;
    //CAN_IF2CMD
    while(CanbRegs.CAN_IF2CMD.bit.Busy)
    {
        ;
    }
    CanbRegs.CAN_IF2CMD.bit.DIR       = 1;
    CanbRegs.CAN_IF2CMD.bit.Mask      = 1;
    CanbRegs.CAN_IF2CMD.bit.Arb       = 1;
    CanbRegs.CAN_IF2CMD.bit.Control   = 1;
    CanbRegs.CAN_IF2MSK.all           = 0;
    CanbRegs.CAN_IF2ARB.bit.MsgVal    = 1;
    CanbRegs.CAN_IF2ARB.bit.Dir       = 1;
    CanbRegs.CAN_IF2MCTL.bit.UMask    = 1;
    CanbRegs.CAN_IF2MCTL.bit.RmtEn    = 1;

    /*1-16是接收，17-32是发送*/
    for(i=1;i<=16;i++)
    {
        CanbRegs.CAN_IF1CMD.bit.MSG_NUM =i;
        while(CanbRegs.CAN_IF1CMD.bit.Busy)
        {
            ;
        }

        CanbRegs.CAN_IF2CMD.bit.MSG_NUM =i + 16;
        while(CanbRegs.CAN_IF2CMD.bit.Busy)
        {
            ;
        }
    }

    /*最后一个设置为EOB,表示fifo的末尾*/
    CanbRegs.CAN_IF1MCTL.bit.EoB    = 1;
    CanbRegs.CAN_IF2MCTL.bit.EoB    = 1;

    CanbRegs.CAN_IF1CMD.bit.MSG_NUM =16;
    while(CanbRegs.CAN_IF1CMD.bit.Busy)
    {
        ;
    }

    CanbRegs.CAN_IF2CMD.bit.MSG_NUM =32;
    while(CanbRegs.CAN_IF2CMD.bit.Busy)
    {
        ;
    }

    /*设置寄存器读方向，清除mctl的intpnd和newdat位*/

    CanbRegs.CAN_IF1CMD.bit.TXRQST       = 1;
    CanbRegs.CAN_IF1CMD.bit.ClrIntPnd    = 1;

    CanbRegs.CAN_IF2CMD.bit.TxRqst       = 1;
    CanbRegs.CAN_IF2CMD.bit.ClrIntPnd    = 1;

    for(i=1;i<=16;i++)
    {
        CanbRegs.CAN_IF1CMD.bit.MSG_NUM =i;
        while(CanbRegs.CAN_IF1CMD.bit.Busy)
        {
            ;
        }

        CanbRegs.CAN_IF2CMD.bit.MSG_NUM =i + 16;
        while(CanbRegs.CAN_IF2CMD.bit.Busy)
        {
            ;
        }

    }


    volatile  Uint32  discardRead  = CanbRegs.CAN_ES.all;  //错误信息

    /*波特率设置500k*/

    ClkCfgRegs.CLKSRCCTL2.bit.CANBBCLKSEL = 0;  //内部时钟100MHz

    CanbRegs.CAN_BTR.bit.BRP      = 9;
    CanbRegs.CAN_BTR.bit.TSEG1    = 10;
    CanbRegs.CAN_BTR.bit.TSEG2    = 7;
    CanbRegs.CAN_BTR.bit.SJW      =3;



    //
    CanbRegs.CAN_CTL.bit.DAR  = 1;
    CanbRegs.CAN_CTL.bit.ABO  = 1;

    //完成复位
    CanbRegs.CAN_CTL.bit.Init  = 0;
    CanbRegs.CAN_CTL.bit.CCE  = 0;

    EDIS;

}
//*************接收数据***************************************
int CanAppTx(int no,CanFrame *tx_frame)
{
    Uint32 regbase;
    Uint32 cmd_regdata=0;
    Uint32 arb_regdata=0;
    Uint32 mctl_regdata=0;
    Uint32 dataA=0,dataB=0;

    int i,j;
    if(no==0)
    {
        //regbase = CANA_BASE;
    }
    else
    {
        //regbase = CANB_BASE;
    }

    //错误复位
    if(CanbRegs.CAN_ES.bit.EWarn)
    {
        CanbRegs.CAN_CTL.bit.Init = 1;
        CanbRegs.CAN_CTL.bit.SWR  = 1;
        CanbRegs.CAN_CTL.bit.DAR  = 1;
        CanbRegs.CAN_CTL.bit.ABO  = 1;
        CanbRegs.CAN_CTL.bit.Init = 0;
        return(0);
    }


    //
    while(CanbRegs.CAN_IF1CMD.bit.Busy)
    {
        ;
    }
    CanbRegs.CAN_IF1CMD.bit.Arb      = 1;
    CanbRegs.CAN_IF1CMD.bit.Mask     = 1;
    CanbRegs.CAN_IF1CMD.bit.Control  = 1;
    /*从17-32中寻找可以发送的邮箱*/
    for(i=17;i<=32;i++)
    {
        CanbRegs.CAN_IF1CMD.bit.MSG_NUM = i;
        while(CanbRegs.CAN_IF1CMD.bit.Busy)
        {
            ;
        }
        if(CanbRegs.CAN_IF1MCTL.bit.TxRqst==0)
        {
            break;
        }
    }

    if(i>=33)
    {
        return(-1);
    }

    /*读取当前邮箱配置信息*/
    CanbRegs.CAN_IF1CMD.bit.Control = 1;
    CanbRegs.CAN_IF1CMD.bit.MSG_NUM = i;
    while(CanbRegs.CAN_IF1CMD.bit.Busy)
    {
        ;
    }

    //
    CanbRegs.CAN_IF1CMD.bit.DIR = 1;
    CanbRegs.CAN_IF1CMD.bit.Arb = 1;
    CanbRegs.CAN_IF1CMD.bit.Control = 1;
    CanbRegs.CAN_IF1CMD.bit.DATA_A =1;
    CanbRegs.CAN_IF1CMD.bit.DATA_B =1;
    if(tx_frame->id.strct.rtr==0)
    {
        CanbRegs.CAN_IF1ARB.bit.Dir =1;
        CanbRegs.CAN_IF1ARB.bit.MsgVal =1;
        CanbRegs.CAN_IF1ARB.bit.ID = tx_frame->id.frame_id;
        CanbRegs.CAN_IF1MCTL.bit.TxRqst =0;
        CanbRegs.CAN_IF1MCTL.bit.DLC = tx_frame->len;
        CanbRegs.CAN_IF1MCTL.bit.TxRqst =1;
        //
        for(j=0;j<4;j++)
        {
            dataA = dataA<<8;
            dataA |= (tx_frame->hdata>>(j<<3))&0x0FF;
        }

        for(j=0;j<4;j++)
        {
            dataB = dataB<<8;
            dataB |= (tx_frame->ldata>>(j<<3))&0x0FF;
        }

    }
    else
    {
        CanbRegs.CAN_IF1MCTL.bit.DLC = tx_frame->len;
        CanbRegs.CAN_IF1MCTL.bit.TxRqst = 1;
    }
    //
    CanbRegs.CAN_IF1CMD.bit.MSG_NUM = i;
    while(CanbRegs.CAN_IF1CMD.bit.Busy)
    {
        ;
    }

}

//*************接收数据*******************************************
/*1---rcv ok 0---no msg -1---msg lost*/
int CanAppRx(int no,CanFrame *rx_frame)
{
    Uint32 cmd_regdata=0;
    Uint32 arb_regdata=0;
    Uint32 mctl_regdata=0;
    Uint32 regbase;
    int i,j;

    //错误复位
    if(CanbRegs.CAN_ES.bit.EWarn)
    {
        CanbRegs.CAN_CTL.bit.Init = 1;
        CanbRegs.CAN_CTL.bit.SWR  = 1;
        CanbRegs.CAN_CTL.bit.DAR  = 1;
        CanbRegs.CAN_CTL.bit.ABO  = 1;
        CanbRegs.CAN_CTL.bit.Init = 0;
        return(0);
    }

    //
    while(CanbRegs.CAN_IF2CMD.bit.Busy)
    {
        ;
    }
    CanbRegs.CAN_IF2CMD.bit.Arb     = 1;
    CanbRegs.CAN_IF2CMD.bit.Control = 1;
    CanbRegs.CAN_IF2CMD.bit.DATA_A  = 1;
    CanbRegs.CAN_IF2CMD.bit.DATA_B  = 1;
    //

    for(i=1;i<=32;i++)
    {
        CanbRegs.CAN_IF2CMD.bit.MSG_NUM = i;
        while(CanbRegs.CAN_IF2CMD.bit.Busy)
        {
            ;
        }
        if(CanbRegs.CAN_IF2MCTL.bit.NewDat !=0)
        {
            break;
        }
    }

    //
    if(i>=17)
    {
        return(0);
    }

    if(CanbRegs.CAN_IF2MCTL.bit.MsgLst!=0)
    {
        return(-1);
    }

    //

    CanbRegs.CAN_IF2CMD.bit.Arb     = 1;
    CanbRegs.CAN_IF2CMD.bit.Mask    = 1;
    CanbRegs.CAN_IF2CMD.bit.Control = 1;
    CanbRegs.CAN_IF2CMD.bit.DATA_A  = 1;
    CanbRegs.CAN_IF2CMD.bit.DATA_B  = 1;

    CanbRegs.CAN_IF2CMD.bit.MSG_NUM = i;
    while(CanbRegs.CAN_IF2CMD.bit.Busy)
    {
        ;
    }

    //
    rx_frame->id.frame_id = 0;
    if(((CanbRegs.CAN_IF2ARB.bit.Dir)&&(!(CanbRegs.CAN_IF2MCTL.bit.TxRqst)))||
      ((!(CanbRegs.CAN_IF2ARB.bit.Dir))&&(CanbRegs.CAN_IF2MCTL.bit.TxRqst)))
    {
        rx_frame->id.strct.rtr = 1;
    }

    //
    rx_frame->id.frame_id |= CanbRegs.CAN_IF2ARB.bit.ID;  //获取报文ID
    rx_frame->len          = CanbRegs.CAN_IF2MCTL.bit.DLC; //获取报文长度
    //获取数据
    if(rx_frame->id.strct.rtr==0)
    {
        for(j=0;j<4;j++)
        {
            rx_frame->hdata  = CanbRegs.CAN_IF2DATB.all;
        }

        for(j=0;j<4;j++)
        {
            rx_frame->ldata = CanbRegs.CAN_IF2DATA.all;;
        }
    }
    else
    {
        rx_frame->hdata = 0;
        rx_frame->ldata = 0;
    }

    //
    CanbRegs.CAN_IF2CMD.bit.TxRqst = 1;
    CanbRegs.CAN_IF2CMD.bit.MSG_NUM = i;
    while(CanbRegs.CAN_IF2CMD.bit.Busy)
    {
        ;
    }

    return(1);

}

0 Fu Mo 4 年多前回复 Fu Mo

Prodigy 85 points

8204.F280049C_Template.zip附件是整个工程，盼望回复，谢谢！

0 Green Deng 4 年多前

TI__Guru** 101655 points

你好，具体是transmit还是receive的寄存器没有反应？

一般这款芯片都是基于driverlib编写的，看寄存器的话得花点时间，你有大概的方向说明一下吗？

0 Fu Mo 4 年多前回复 Green Deng

Prodigy 85 points

你好！收发寄存都没有数据。我是想参照库函数版本完成DCAN数据的收发功能，用1-16号邮箱作为接收，17-32号邮箱作为发送。其中发送时要先查询邮箱是否可用，不需要等待发送，譬如：当前是想用17号邮箱发送先看看17号邮箱是否空闲如果空闲就直接发送，如果17号邮箱正忙就自加到18号邮箱以此类推。谢谢！

0 Fu Mo 4 年多前回复 Fu Mo

Prodigy 85 points

7701.F280049C_Template.zip我对照手册发现了几个问题，并更新了代码，但是还是没能实现DCAN报文的发送和接收功能，请帮忙看看分析一下原因，谢谢！

0 Green Deng 4 年多前回复 Fu Mo

TI__Guru** 101655 points

你好，因为没经手过这款芯片的DCAN寄存器方式编程，我将你的工程的关键代码发送到英文E2E论坛咨询了一下，但是对方也没给出具体的问题所在，但是给出了2点建议，你可以参考一下：

https://e2e.ti.com/support/microcontrollers/c2000-microcontrollers-group/c2000/f/c2000-microcontrollers-forum/1026132/tms320f280049-configure-can-module-in-register-mode

0 Fu Mo 4 年多前回复 Green Deng

Prodigy 85 points

好的，感谢。其实，硬件是没有问题的，通过库函数配置已经验证过没有问题，现在就是想通过寄存器来配置，可以跟英文E2E论坛人员沟通一下c200ware的demod都是库函数配置，能否把C200WARE里面的这些DEMO出个寄存器版本的，谢谢！

0 Green Deng 4 年多前回复 Fu Mo

TI__Guru** 101655 points

其实有些模块是有寄存器版本的，比如SCI，寄l存器版本的例程可以在这个路径找到：C:\ti\c2000\C2000Ware_3_04_00_00\device_support\f28004x\examples

但是例程不多，而且没有CAN模块的，不知道后续会不会更新。

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TMS320F280049: F280049 DCAN寄存器版收发问题